Research And Design Of Inspection Robot Based On The Parallelogram Structure

The inspection robot has a bright prospect, which can replace workers and improve the efficiency, accuracy and safety. This paper analyzed the domestic and foreign research status of inspection robot. Then designed the structure of inspection robot based on parallelogram structure and analyzed the work performance.By analyzing the work requirements, spring, electric cylinder, method of driven parallelogram, connecting joints, redesigned the structure of the parallelogram, rotary joint, and arm, and established a three-dimensional model with SolidWorks. The new robot consists of four units and five arms, each unit is composed of two parallelogram mechanism, and it connected by rotating joints. Parallelogram mechanism is connected by hinges and driven by two flexible cables on the diagonal. The improved arm can work on the transmission line, which have a slope.For different sizes of obstacles designed cross obstacle processes which improved the stability and the ability of robot. Research of the robot’s capability of climbing and cross obstacles proves the robot meet the requirements. By kinematic analysis obtained the relationship between the two flexible cables. Through analyze of the dynamic obtained the dynamic equation of unit and the relationship between the external load and rope’s tension. By analyzing the stiffness of the robot deduced parallelogram mechanism’s stiffness equation. The analysis of unit showed that the length, velocity, force of cable and rigidity of the unit are controllable.